If the projection for a CompoundStateSpace is supposed to be the same as the one for one of its included subspaces, this class facilitates selecting a projection of that subspace. More...

#include <ompl/base/ProjectionEvaluator.h>

Inheritance diagram for ompl::base::SubspaceProjectionEvaluator:

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Public Member Functions
	SubspaceProjectionEvaluator (const StateSpace *space, unsigned int index, ProjectionEvaluatorPtr projToUse=ProjectionEvaluatorPtr())
	The constructor states that for space space, the projection to use is the same as the component at position index of space space. The actual projection to use can be specified by projToUse. If the projection is not specified, the default one for the subspace at position index is used.

void	setup () override
	Perform configuration steps, if needed.

unsigned int	getDimension () const override
	Return the dimension of the projection defined by this evaluator.

void	project (const State *state, Eigen::Ref< Eigen::VectorXd > projection) const override
	Compute the projection as an array of double values.

Public Member Functions inherited from ompl::base::ProjectionEvaluator
	ProjectionEvaluator (const ProjectionEvaluator &)=delete

ProjectionEvaluator &	operator= (const ProjectionEvaluator &)=delete

	ProjectionEvaluator (const StateSpace *space)
	Construct a projection evaluator for a specific state space.

	ProjectionEvaluator (const StateSpacePtr &space)
	Construct a projection evaluator for a specific state space.

virtual void	setCellSizes (const std::vector< double > &cellSizes)
	Define the size (in each dimension) of a grid cell. The number of sizes set here must be the same as the dimension of the projection computed by the projection evaluator. After a call to this function, setup() will not call defaultCellSizes() or inferCellSizes() any more.

void	setCellSizes (unsigned int dim, double cellSize)
	Set the cell sizes to cellSize for a particular dimension dim. This function simply calls getCellSizes(), modifies the desired dimension and then calls setCellSizes(). This is done intentionally to enforce a call to setCellSizes().

void	mulCellSizes (double factor)
	Multiply the cell sizes in each dimension by a specified factor factor. This function does nothing if cell sizes have not been set. If cell sizes have been set (irrespective of source; e.g., user, default or inferred), this function will then call setCellSizes(), so the source of the cell sizes will be considered to be the user.

bool	userConfigured () const
	Return true if any user configuration has been done to this projection evaluator (setCellSizes() was called)

const std::vector< double > &	getCellSizes () const
	Get the size (each dimension) of a grid cell

double	getCellSizes (unsigned int dim) const
	Get the size of a particular dimension of a grid cell

void	checkCellSizes () const
	Check if cell dimensions match projection dimension.

void	inferCellSizes ()
	Sample the state space and decide on default cell sizes. This function is called by setup() if no cell dsizes have been set and defaultCellSizes() does not fill the cell sizes either.

virtual void	defaultCellSizes ()
	Set the default cell dimensions for this projection. The default implementation of this function is empty. setup() calls this function if no cell dimensions have been previously set.

void	checkBounds () const
	Check if the projection dimension matched the dimension of the bounds.

bool	hasBounds () const
	Check if bounds were specified for this projection.

void	setBounds (const RealVectorBounds &bounds)
	Set bounds on the projection. The PDST planner needs to known the bounds on the projection. Default bounds are automatically computed by inferCellSizes().

const RealVectorBounds &	getBounds () const
	Get the bounds computed/set for this projection.

void	inferBounds ()
	Compute an approximation of the bounds for this projection space. getBounds() will then report the computed bounds.

void	computeCoordinates (const Eigen::Ref< Eigen::VectorXd > &projection, Eigen::Ref< Eigen::VectorXi > coord) const
	Compute integer coordinates for a projection.

void	computeCoordinates (const State *state, Eigen::Ref< Eigen::VectorXi > coord) const
	Compute integer coordinates for a state.

ParamSet &	params ()
	Get the parameters for this projection.

const ParamSet &	params () const
	Get the parameters for this projection.

virtual void	printSettings (std::ostream &out=std::cout) const
	Print settings about this projection.

virtual void	printProjection (const Eigen::Ref< Eigen::VectorXd > &projection, std::ostream &out=std::cout) const
	Print a euclidean projection.

Protected Attributes
unsigned int	index_
	The index of the subspace from which to project.

ProjectionEvaluatorPtr	proj_
	The projection to use. This is either the same as specifiedProj_ or, if specifiedProj_ is not initialized, it is the default projection for the subspace at index index_.

ProjectionEvaluatorPtr	specifiedProj_
	The projection that is optionally specified by the user in the constructor argument (projToUse)

Protected Attributes inherited from ompl::base::ProjectionEvaluator
const StateSpace *	space_
	The state space this projection operates on.

std::vector< double >	cellSizes_
	The size of a cell, in every dimension of the projected space, in the implicitly defined integer grid.

RealVectorBounds	bounds_
	A bounding box for projected state values.

RealVectorBounds	estimatedBounds_
	An approximate bounding box for projected state values; This is the cached result of estimateBounds() which may later be copied to bounds_ if bounds are needed but were not specified.

bool	defaultCellSizes_
	Flag indicating whether cell sizes have been set by the user, or whether they were inferred automatically. This flag becomes false if setCellSizes() is called.

bool	cellSizesWereInferred_
	Flag indicating whether projection cell sizes were automatically inferred.

ParamSet	params_
	The set of parameters for this projection.

Additional Inherited Members
Protected Member Functions inherited from ompl::base::ProjectionEvaluator
void	estimateBounds ()
	Fill estimatedBounds_ with an approximate bounding box for the projection space (via sampling)

Detailed Description

If the projection for a CompoundStateSpace is supposed to be the same as the one for one of its included subspaces, this class facilitates selecting a projection of that subspace.

Definition at line 363 of file ProjectionEvaluator.h.

The documentation for this class was generated from the following files:

ompl/base/ProjectionEvaluator.h
ompl/base/src/ProjectionEvaluator.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description